Approximate the length of a Spline. More...
#include <roboptim/trajectory/spline-length.hh>
Public Member Functions | |
SplineLength (const CubicBSpline &spline, const size_type nDiscretizationPoints=100, boost::optional< interval_t > interval=boost::none_t()) throw () | |
virtual | ~SplineLength () throw () |
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TrajectoryCost (const trajectory_t &traj, std::string name=std::string()) throw () | |
Concret class should call this constructor. | |
virtual | ~TrajectoryCost () throw () |
Protected Member Functions | |
void | impl_compute (result_t &, const argument_t &) const throw () |
void | impl_gradient (gradient_t &, const argument_t &, size_type) const throw () |
Additional Inherited Members | |
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typedef CubicBSpline | trajectory_t |
Trajectory type. | |
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const trajectory_t & | trajectory_ |
Input trajectory. |
Approximate the length of a Spline.
The length is computed using:
and
are given when the object is instantiated.